Articles
<![CDATA[Kendali Pergerakan Robot Ball Follower dengan Metode Pengolahan Citra Sederhana ]]>
<![CDATA[Pola Risma]]>;
<![CDATA[Tresna Dewi]]>;
<![CDATA[Yurni Oktarina]]>;
<![CDATA[Muhammad Nawawi]]>
<![CDATA[ Annual Research Seminar (ARS) Vol 4, No 1 (2018): ARS 2018 ]]>
Publisher : <![CDATA[Annual Research Seminar (ARS) ]]>
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<![CDATA[Robotika merupakan alat elektromekanik yang telah merambah di semua aspek kehidupan manusia, dari industri hingga sarana hiburan dalam kehidupan sehari-hari. Penggunaan sensor citra semakin memungkinkan aplikasi robotika yang lebih luas lagi, contohnya sebagai alat hiburan atau game. Pengolahan citra membutuhkan sumber daya komputasi yang cukup besar, sehingga penyederhanaan proses pengolahan citra akan mempercepat proses pengolahan citra tersebut. Paper ini membahas pengolahan citra sederhana untuk mendeteksi dan mengikuti bola berwarna merah. Tiga jenis ekperimen dilakukan untuk menguji efektivitas metode yang diajukan pada paper ini, dan hasil ekperimen menunjukkan bahwa robot dapat mendeteksi dan mengikuti bola merah di semua jenis trek ekperimen.]]>
<![CDATA[Perbandingan Desain dan Pemodelan Tangan Robot Lima Jari sebagai Sistem Underactuated ]]>
<![CDATA[Tresna Dewi]]>;
<![CDATA[Pola Risma]]>;
<![CDATA[Yurni Oktarina]]>;
<![CDATA[Muhammad Taufik Roseno]]>
<![CDATA[ Annual Research Seminar (ARS) Vol 2, No 1 (2016) ]]>
Publisher : <![CDATA[Annual Research Seminar (ARS) ]]>
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<![CDATA[Arm robot manipulator adalah jenis robot yang paling banyak digunakan, dan bagian terpenting dari arm robot manipulator ini adalah end-effector. Walaupun pada banyak aplikasi di industri, end-effector dibuat sesederhana mungkin, pada beberapa aplikasi seperti prosthetic arm diperlukan end-effector yang menyerupai tangan manusia. Paper ini membahas perbandingan desain dan pemodelan tangan robot 5 jari, mulai dari penurunan model kinematis sampai pemilihan sistem kendali yang paling tepat untuk mengatasi batasan underactuated system. Dari studi literatur ini, dapat dilihat model kinematis sangat penting untuk mendapatkan persamaan yang paling mendekati sistem mekanis yang ada dan untuk kemudian akan mendapatkan desain sistem kendali yang paling tepat. Untuk mengatasi batasan underactuated system, maka digunakan penggerak pasif seperti spring, oleh karena itu pengaplikasian Impedance Control adalah paling tepat dengan menggunakan tambahan spring damper virtual.]]>
<![CDATA[Neural Network Controller Design for a Mobile Robot Navigation; a Case Study ]]>
<![CDATA[Tresna Dewi]]>;
<![CDATA[Pola Risma]]>;
<![CDATA[Yurni Oktarina]]>;
<![CDATA[M. Taufik Roseno]]>
<![CDATA[ Proceeding of the Electrical Engineering Computer Science and Informatics Vol 4: EECSI 2017 ]]>
Publisher : <![CDATA[IAES Indonesia Section ]]>
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DOI: 10.11591/eecsi.v4.1055
<![CDATA[Mobile robot are widely applied in various aspect of human life. The main issue of this type of robot is how to navigate safely to reach the goal or finish the assigned task when applied autonomously in dynamic and uncertain environment. The ap- plication of artificial intelligence, namely neural network, can provide a ”brain” for the robot to navigate safely in completing the assigned task. By applying neural network, the complexity of mobile robot control can be reduced by choosing the right model of the system, either from mathematical modeling or directly taken from the input of sensory data information. In this study, we compare the presented methods of previous researches that applies neural network to mobile robot navigation. The comparison is started by considering the right mathematical model for the robot, getting the Jacobian matrix for online training, and giving the achieved input model to the designed neural network layers in order to get the estimated position of the robot. From this literature study, it is concluded that the consideration of both kinematics and dynamics modeling of the robot will result in better performance since the exact parameters of the system are known.]]>
<![CDATA[Fuzzy Logic Controller Design for Leader-Follower Robot Navigation ]]>
<![CDATA[Tresna Dewi]]>;
<![CDATA[Yudi Wijanarko]]>;
<![CDATA[Pola Risma]]>;
<![CDATA[Yurni Oktarina]]>
<![CDATA[ Proceeding of the Electrical Engineering Computer Science and Informatics Vol 5: EECSI 2018 ]]>
Publisher : <![CDATA[IAES Indonesia Section ]]>
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DOI: 10.11591/eecsi.v5.1610
<![CDATA[Mobile robots are applied everywhere in the human's life, starting from industries to domestics. This phenomenon makes it one of the most studied subjects in electronics engineering. Navigation is always an issue for this kind of robot, to ensure it can finish its task safely. Giving it a “brain” is one of the ways to create an autonomous navigating robot. The Fuzzy logic controller is a good choice for the “brain” since it does not need accurate mathematical modeling of the system. Only by utilizing the inputs from sensors are enough to design an effective controller. This paper presents an FLC design for leader-follower robot. This FLC design is the improvement of FLC application in a single two differential-driven mobile robot. The relation between leader and follower robot is modeled linearly as a spring-damper system. Simulation proves the feasibility of the proposed method in several environment setting, and this paper also shows that the method can be easily extended to one leader and more than one follower's formation. The research in this paper has introduced in the classroom as the teaching-learning media to improve students' involvement and interest in robotics and robotics related class. This paper is also part of our campaign and encouragement for teachers and students to use low-cost and open source software since not all the universities in developing country can afford the expensive high-end software.]]>
<![CDATA[Arm Robot Manipulator Design and Control for Trajectory Tracking; a Review ]]>
<![CDATA[Hendra Marta Yudha]]>;
<![CDATA[Tresna Dewi]]>;
<![CDATA[Pola Risma]]>;
<![CDATA[Yurni Oktarina]]>
<![CDATA[ Proceeding of the Electrical Engineering Computer Science and Informatics Vol 5: EECSI 2018 ]]>
Publisher : <![CDATA[IAES Indonesia Section ]]>
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DOI: 10.11591/eecsi.v5.1620
<![CDATA[Arm robot manipulator heavily applied in industries ranging from welding, pick-and-place, assembly, packaging, labeling, etc. Trajectory planning and tracking is the fundamental design of an arm robot manipulator. The trajectory is set and determined to satisfy a certain criterion effectively and optimally. Optimization of robot trajectory is necessary to ensure the good quality product and to save energy, and this optimization can be provided by the right modeling and design. This paper presents a review study of arm-robot manipulator design and control for trajectory tracking by investigating the modeling of an arm robot manipulator starting from kinematics, dynamics and the application of the more advanced methods. The idea of this paper comes from the popularity of inverse kinematics among students.]]>
<![CDATA[The Kinematics and Dynamics Motion Analysis of a Spherical Robot ]]>
<![CDATA[Tresna Dewi]]>;
<![CDATA[Pola Risma]]>;
<![CDATA[Yurni Oktarina]]>;
<![CDATA[Lin Prasetyani]]>;
<![CDATA[Zarqa Mulya]]>
<![CDATA[ Proceeding of the Electrical Engineering Computer Science and Informatics Vol 6: EECSI 2019 ]]>
Publisher : <![CDATA[IAES Indonesia Section ]]>
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DOI: 10.11591/eecsi.v6.1937
<![CDATA[Mobile robot application has reach more aspect of life in industry and domestic. One of the mobile robot types is a spherical robot whose components are shielded inside a rigid cell. The spherical robot is an interesting type of robot that combined the concept of a mobile robot and inverted pendulum for inner mechanism. This combination adds to more complex controllerdesignthantheothertypeofmobilerobots.Asidefrom these challenges, the application of a spherical robot is extensive, from being a simple toy, to become an industrial surveillance robot. This paper discusses the mathematical analysis of the kinematics and dynamics motion analysis of a spherical robot. The analysis combines mobile robot and pendulum modeling as the robot motion generated by a pendulum mechanism. This paper is expected to give a complete discussion of the kinematics and dynamics motion analysis of a spherical robot.]]>
<![CDATA[MOTION CONTROL ANALYSIS OF TWO COLLABORATIVE ARM ROBOTS IN FRUIT PACKAGING SYSTEM ]]>
<![CDATA[Tresna Dewi]]>;
<![CDATA[Citra Anggraini]]>;
<![CDATA[Pola Risma]]>;
<![CDATA[Yurni Oktarina]]>;
<![CDATA[Muslikhin Muslikhin]]>
<![CDATA[ SINERGI Vol 25, No 2 (2021) ]]>
Publisher : <![CDATA[Universitas Mercu Buana ]]>
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DOI: 10.22441/sinergi.2021.2.013
<![CDATA[As robots' use increases in every sector of human life, the demand for cheap and efficient robots has also enlarged. The use of two or more simple robot is preferable to the use of one sophisticated robot. The agriculture industry can benefit from installing a robot, from seeding to the packaging of the product. A precise analysis is required for the installation of two collaborative robots. This paper discusses the motion control analysis of two collaborative arms robots in the fruit packaging system. The study begins with the relative motion analysis between two robots, starting with kinematics modeling, image processing for object detection, and the Fuzzy Logic Controller's design to show the relationship between the robot inputs and outputs. The analysis is carried out using SCILAB, open-source software for numerical computing engineering. This paper is intended as the initial analysis of the feasibility of the real experimental system.]]>
<![CDATA[Sistem Kendali Pengisian Jus Otomatis Menggunakan Sensor Infrared Dan Waterflow Berbasis PLC ]]>
<![CDATA[Siti Afiyah Qatrunnada]]>;
<![CDATA[Yurni Oktarina]]>;
<![CDATA[Tresna Dewi]]>;
<![CDATA[Evelina Ginting]]>;
<![CDATA[Pola Risma]]>
<![CDATA[ Journal of Applied Smart Electrical Network and Systems Vol 1 No 01 (2020): Vol 1 No 01 (2020) : June 2020 ]]>
Publisher : <![CDATA[Indonesian Society of Applied Science (ISAS) ]]>
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DOI: 10.52158/jasens.v1i01.26
<![CDATA[The need for automatic beverage vendors is quite high in public places and crowds, which will be more efficient and efficient than the beverage vendors who are human-friendly. This paper discusses the design of an automatic beverage vendor based on a programmable logic controller (PLC). The PLC used for this study is the production of Outseal, which has an Outseal Studio simulation program with a ladder diagram control. This automatic beverage vendor consists of input, process, and output. The primary input of this system is an infrared sensor, and a flow meter sensor to detect the cup's presence and how much juice poured to the cup. The DC motor and pump are the control output. A simulation program demonstrates the effectiveness of this automatic beverage supplier with the Outseal studio.]]>
<![CDATA[Implementasi Neural Network Untuk Kendali Gerak Mobile Robot Pembasmi Hama ]]>
<![CDATA[Dadi Setiadi]]>;
<![CDATA[Pola Risma]]>;
<![CDATA[Tresna Dewi]]>;
<![CDATA[RD Kusumanto]]>;
<![CDATA[Yurni Oktarina]]>
<![CDATA[ Journal of Applied Smart Electrical Network and Systems Vol 1 No 01 (2020): Vol 1 No 01 (2020) : June 2020 ]]>
Publisher : <![CDATA[Indonesian Society of Applied Science (ISAS) ]]>
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DOI: 10.52158/jasens.v1i01.36
<![CDATA[The agricultural sector is one of the most important economic sectors for Indonesia. However, agriculture itself is accompanied by a number of problems, one of which is pests that attack crops and cause crop failure. The use of robotics in agriculture can now overcome the limited capacity of farmers to monitor large land areas. Using an RC robot that can be controlled automatically via a cell phone monitor screen, human work is greatly facilitated. Artificial intelligence is implanted into a robot to improve the performance of an agricultural robot. This paper discusses designing a pest spraying robot with Neural Network applications for effective and efficient control inputs. The feasibility of the proposed method is proven by simulation conducted in Neuroph Studio and MobotSim. The simulation results show that neural network applications can effectively manage mobile robot movements with an error value of less than 0.1 to avoid the obstacles they encounter to reach the target.]]>
<![CDATA[Fuzzy Logic Controller sebagai Penentu Gerak Mobile Robot Pembasmi Hama ]]>
<![CDATA[Muhammad Ridho Kenawas]]>;
<![CDATA[Pola Risma]]>;
<![CDATA[Tresna Dewi]]>;
<![CDATA[Selamet Muslimin]]>;
<![CDATA[Yurni Oktarina]]>
<![CDATA[ Journal of Applied Smart Electrical Network and Systems Vol 1 No 01 (2020): Vol 1 No 01 (2020) : June 2020 ]]>
Publisher : <![CDATA[Indonesian Society of Applied Science (ISAS) ]]>
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DOI: 10.52158/jasens.v1i01.38
<![CDATA[A mobile robot is one of the solutions to overcome crop failure caused by chili pests. The mobile robot discussed in this paper is used to spray pesticide liquid into chili plant stems to prevent pests attack on the plants. This paper discusses the design of pesticide spraying robot motion with the application of Fuzzy Logic Controller. This robot employment is expected to reduce farmers' workload and to help to produce a good harvest. Robot motions are divided into two conditions, which can be controlled by remote control as a controller (manual) and by means of a sensor (automatic). Mobile robot movements have a significant impact on navigation and the design of the driving system. Robot speed is controller by adjusting Pulse Width Modulation of DC motors attached to the robots' wheel, which set to be 90 for slow and 220 for high speed. The Fuzzy Logic Controller in this mobile robot functions as an autonomous decision-making driver to detect obstacles in front of the mobile robot and the targeted stems.]]>
